Hybrid control and motion planning of dynamical legged locomotion

• Tác giả: Nasser Sadati
• Ngôn ngữ: eng
• ISBN-13: 978-1118393741
• Ký hiệu phân loại: 629.8932 Automatic control engineering
• Thông tin xuất bản: Hoboken, N.J. : Wiley, 2012.
• Mô tả vật lý: 1 PDF (272 pages).
• Bộ sưu tập: Tài liệu truy cập mở
• ID: 314489
• Chủ đề: 1. Mobile robots; 2. Robots--Motion; 3. Walking

Tóm tắt

"This book provides a comprehensive presentation of issues and challenges faced by researchers and practicing engineers in motion planning and hybrid control of dynamical legged locomotion"-- Provided by publisher."This book provides a comprehensive presentation of issues and challenges faced by researchers and practicing engineers in motion planning and hybrid control of dynamical legged locomotion. The major features range from offline and online motion planning algorithms to generate desired feasible periodic walking and running motions and tow-level control schemes, including within-stride feedback laws, continuous time update laws and event-based update laws, to asymptotically stabilize the generated desired periodic orbits. This book describes the current state of the art and future directions across all domains of dynamical legged locomotion so that readers can extend proposed motion planning algorithms and control methodologies to other types of planar and 3D legged robots"-- Provided by publisher.